Research on Motion Controller for SCARA Robot Based on STM32

摘要

Based on STM32F103 chip with ARM Cortex-M3 core, the motion controller for SCARA robot was developed. The extensive peripheral function and ST firmware libraries of STM32F103 chip made the realization of the controller conveniently. It achieved a good performance of the four servomotors' coordinated movement. The motion controller realized the smooth acceleration, constant speed and deceleration of the servomotors by the mode of S-curve motion control, avoiding the vibration of the robot arms, and ensuring the smooth working of SCARA robot arms. The experiments validated the controller was good generality and openness, and the motion controller was used in the independent development of the SCARA.